Finite-set model predictive control of the two-mass-system

This paper presents the design of a control scheme for the two-mass-system based on the Finite-Set Model Predictive Control method. The whole system state is controlled in a centralized way, so that the problem is solved more holistically, that is to say, using all degrees of freedom available. Constraints in the prediction horizon, given by the limited computation power and speed of the system dynamics, and the consequent myopic perspective of the controller, are solved by means of an ad-hoc cost function. The control is done using measurements of the stator currents and the speed of the driving machine. The rest of the system state is estimated using a Kalman Filter.